Abstract
We propose a methodology for decentralized multi-agent control from Linear Temporal Logic (LTL) specifications. Each agent receives an independent specification to formally synthesize its own hybrid controller. Mutual satisfiability is not a priori guaranteed. Due to limited communication, the agents utilize meeting events to exchange their controller automata and verify satisfiability through model checking. Local interaction only when common atomic propositions exist reduces the overall computational cost, facilitating scalability. Provably correct collision avoidance and convergence is ensured by Decentralized Multi-Agent Navigation Functions.
Original language | English (US) |
---|---|
Article number | 6426027 |
Pages (from-to) | 6235-6240 |
Number of pages | 6 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
DOIs | |
State | Published - 2012 |
Event | 51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: Dec 10 2012 → Dec 13 2012 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization